BNO08xTestHelper.hpp

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#pragma once
 
// in-house includes
#include "BNO08x.hpp"
 
class BNO08xTestHelper
{
    private:
        static inline uint8_t test_imu_buffer[sizeof(BNO08x)];
        inline static BNO08x* test_imu = nullptr;
        inline static bno08x_config_t imu_cfg;
 
        static const constexpr char* TAG = "BNO08xTestHelper";
 
    public:
        static void print_test_start_banner(const char* TEST_TAG)
        {
            printf("------------------------ BEGIN TEST: %s ------------------------\n\r", TEST_TAG);
        }
 
        static void print_test_end_banner(const char* TEST_TAG)
        {
            printf("------------------------ END TEST: %s ------------------------\n\r", TEST_TAG);
        }
 
        static void print_test_msg(const char* TEST_TAG, const char* msg)
        {
            printf("%s: %s: %s\n\r", TAG, TEST_TAG, msg);
        }
 
        static void set_test_imu_cfg(bno08x_config_t cfg)
        {
            imu_cfg = cfg;
        }
 
        static void create_test_imu()
        {
            if (test_imu != nullptr)
                destroy_test_imu();
 
            test_imu = new (&test_imu_buffer) BNO08x();
        }
 
        static void destroy_test_imu()
        {
            if (test_imu != nullptr)
            {
                test_imu->~BNO08x();  
                test_imu = nullptr;
            }
        }
 
        static BNO08x* get_test_imu()
        {
            return test_imu;
        }
 
        static esp_err_t call_init_config_args()
        {
            if (test_imu == nullptr)
                return ESP_FAIL;
 
            return test_imu->init_config_args();
        }
 
        static esp_err_t call_init_gpio()
        {
            if (test_imu == nullptr)
                return ESP_FAIL;
 
            return test_imu->init_gpio();
        }
 
        static esp_err_t call_init_hint_isr()
        {
            if (test_imu == nullptr)
                return ESP_FAIL;
 
            return test_imu->init_hint_isr();
        }
 
        static esp_err_t call_init_spi()
        {
            if (test_imu == nullptr)
                return ESP_FAIL;
 
            return test_imu->init_spi();
        }
 
        static esp_err_t call_init_tasks()
        {
            if (test_imu == nullptr)
                return ESP_FAIL;
 
            return test_imu->init_tasks();
        }
 
        static esp_err_t call_init_sh2_HAL()
        {
            if (test_imu == nullptr)
                return ESP_FAIL;
 
            return test_imu->init_sh2_HAL();
        }
 
        static esp_err_t call_deinit_gpio()
        {
            if (test_imu == nullptr)
                return ESP_FAIL;
 
            return test_imu->deinit_gpio();
        }
 
        static esp_err_t call_deinit_hint_isr()
        {
            if (test_imu == nullptr)
                return ESP_FAIL;
 
            return test_imu->deinit_hint_isr();
        }
 
        static esp_err_t call_deinit_spi()
        {
            if (test_imu == nullptr)
                return ESP_FAIL;
 
            return test_imu->deinit_spi();
        }
 
        static esp_err_t call_deinit_tasks()
        {
            if (test_imu == nullptr)
                return ESP_FAIL;
 
            return test_imu->deinit_tasks();
        }
 
        static esp_err_t call_deinit_sh2_HAL()
        {
            if (test_imu == nullptr)
                return ESP_FAIL;
 
            return test_imu->deinit_sh2_HAL();
        }
};